Available hardware
The team ISEP@Work does not currently have available any robot for this task. It is foreseen to be bought a robot by the beginning of 2015, by the research lab at which the team members are affiliated (INESC TEC Porto). The work is presently being developed in simulation, and the idea is to test several algorithms in the software and latter to transfer the developed software for the robot platform.Available software
The simulation software that is being used by the team is the Virtual Robot Experimentation Platform (V -REP), which contains a model of the platform that the team intends to buy for this work.The control architecture of the V-REP simulator is depicted in the following Figure, where it is possible to see that it contains a ROS plugin.
All programming is being developed using ROS with the idea of making possible to “transfer” the software from the V-REP simulator to the robot with (we expect) minimum difficulties.
Involved research areas in the team work
The objective underlying the ISEP@Work team is that this team be composed of ISEP Licenciatura (first Bologna cycle) and Master Courses on Electrical and Computer Engineering final year students, from the branches of “Automation and Systems” and “Autonomous Systems”, with the support of teachers from relevant subjects on the robotics and automation areas, that would supervise the students work on behalf of the team.The idea is to foster in these students, through their participation in the RoCKIn@Work competitions, the desire to proceed their studies in robotics related areas and, eventually become involved in research in these areas.
Based on these ideas, the team is presently constituted by the Team Leader, that is conducting research in robotic manipulation in a research project on which he is currently involved, two ISEP Licenciatura course students and one ISEP Master course student.
The two Licenciatura students are on their final year of the ISEP Course on Electrical and Computer Engineering and performing their final course project working on subjects related to the RoCKIn@Work competitions. The Master student is on his first year of the ISEP Master Course on Autonomous Systems, and has already integrated this team during its participation at the 2nd RoCKIn Camp.
Role and Competence of Team Members
Each team element has been assigned the simulation of a RoCKIn@Work Test (Prepare Assembly Aid Tray for Force Fitting, Plate Drilling and Fill a Box with Parts for Manual Assembly).During the simulation of each of these tests the students are required to study the state-of-the-art on the subjects under consideration, namely algorithms for object location and identification through artificial vision and strategies for object manipulation.
Involved research areas in the team work
the involvement in RoCKIn@Work will foster the internationalization of the performed R&D by the members of INESC-TEC, either basic, as well as applied to the problem under consideration, allowing exchanging ideas on the implemented solutions, as well as ideas on future research, with the remaining participants. This will allow a more rapid growth of knowledge inside the elements of the team.Finally, the constitution of the team will allow the creation of a knowledge base oriented to solving industrial problems, giving visibility to INESC TEC as a potential partner for companies looking for advanced solutions and R&D to solve real problems that they face in their everyday life.